defaults

common/params_keys.h

@@ -372,7 +372,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LateralTune", {PERSISTENT, BOOL, "1", "0", 1}},
     {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0}},
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
-    {"LeadIndicator", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2}},
     {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
@@ -545,8 +545,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SLCMapboxFiller", {PERSISTENT, BOOL, "1", "0", 1}},
     {"SLCOverride", {PERSISTENT, INT, "1", "0", 1}},
     {"SLCPriority", {PERSISTENT, STRING, "", "", 2}},
-    {"SLCPriority1", {PERSISTENT, STRING, "Map Data", "Map Data", 2}},
-    {"SLCPriority2", {PERSISTENT, STRING, "Dashboard", "Dashboard", 2}},
+    {"SLCPriority1", {PERSISTENT, STRING, "Vision", "Map Data", 2}},
+    {"SLCPriority2", {PERSISTENT, STRING, "Map Data", "Dashboard", 2}},
     {"SNGHack", {PERSISTENT, BOOL, "1", "0", 2}},
     {"SoundPack", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"SoundToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -561,7 +561,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
     {"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
     {"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "1", "0", 0}},
     {"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
     {"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
     {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},

selfdrive/ui/lib/starpilot_visuals.py

@@ -19,8 +19,7 @@ def get_border_width(base_width: int, params: Params | None = None) -> int:
 def lead_indicator_enabled(params: Params | None = None) -> bool:
   active_params = params if params is not None else Params()
 
-  enabled = not active_params.get_bool("HideLeadMarker", default=False)
-  if active_params.get("LeadIndicator") is not None:
-    enabled = enabled and active_params.get_bool("LeadIndicator", default=True)
-
-  return enabled
+  return (
+    active_params.get_bool("LeadIndicator", default=False)
+    and not active_params.get_bool("HideLeadMarker", default=False)
+  )

selfdrive/ui/onroad/model_renderer.py

@@ -123,14 +123,16 @@ class ModelRenderer(Widget):
     radar_state = sm['radarState'] if sm.valid['radarState'] else None
     lead_one = radar_state.leadOne if radar_state else None
 
-    # StarPilot lead indicator visibility conditions
-    hide_lead_marker = self._params.get_bool("HideLeadMarker")
     self._lead_info_enabled = self._params.get_bool("LeadInfo")
     self._use_rainbow = self._params.get_bool('RainbowPath', default=False)
     self._use_accel_path = self._params.get_bool('AccelerationPath', default=True)
     self._is_metric = self._params.get_bool('IsMetric')
     lead_info_enabled = self._lead_info_enabled
-    render_lead_indicator = (self._longitudinal_control or lead_info_enabled) and radar_state is not None and not hide_lead_marker
+    render_lead_indicator = (
+      (self._longitudinal_control or lead_info_enabled)
+      and radar_state is not None
+      and lead_indicator_enabled(self._params)
+    )
 
     # Update model data when needed
     model_updated = sm.updated['modelV2']

selfdrive/ui/tests/test_starpilot_visuals.py

@@ -0,0 +1,37 @@
+import importlib.util
+import unittest
+from pathlib import Path
+
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "lib" / "starpilot_visuals.py"
+SPEC = importlib.util.spec_from_file_location("starpilot_visuals_under_test", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+assert SPEC is not None and SPEC.loader is not None
+SPEC.loader.exec_module(MODULE)
+lead_indicator_enabled = MODULE.lead_indicator_enabled
+
+
+class FakeParams:
+  def __init__(self, values=None):
+    self.values = values or {}
+
+  def get_bool(self, key, block=False, default=False):
+    value = self.values.get(key, default)
+    if isinstance(value, bool):
+      return value
+    return str(value or "").strip() in ("1", "true", "True")
+
+
+class TestStarPilotVisuals(unittest.TestCase):
+  def test_lead_indicator_disabled_by_default(self):
+    self.assertFalse(lead_indicator_enabled(FakeParams()))
+
+  def test_lead_indicator_can_be_enabled(self):
+    self.assertTrue(lead_indicator_enabled(FakeParams({"LeadIndicator": True})))
+
+  def test_hide_lead_marker_suppresses_lead_indicator(self):
+    self.assertFalse(lead_indicator_enabled(FakeParams({"LeadIndicator": True, "HideLeadMarker": True})))
+
+
+if __name__ == "__main__":
+  unittest.main()

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -1779,12 +1779,11 @@
         "parent_key": "AdvancedCustomUI"
       },
       {
-        "key": "HideLeadMarker",
-        "label": "Hide Lead Marker",
-        "description": "Hide the lead-vehicle marker from the driving screen.",
+        "key": "LeadIndicator",
+        "label": "Lead Indicator",
+        "description": "Show the lead-vehicle marker on the driving screen.",
         "data_type": "bool",
-        "ui_type": "toggle",
-        "parent_key": "AdvancedCustomUI"
+        "ui_type": "toggle"
       },
       {
         "key": "HideMaxSpeed",

starpilot/system/the_galaxy/tests/test_navigation_params.py

@@ -35,6 +35,10 @@ class FakeParamsBackend:
     self.writes.append((key, value))
     self.values[key] = value
 
+  def put_bool(self, key, value):
+    self.writes.append((key, bool(value)))
+    self.values[key] = bool(value)
+
   def get(self, key, block=False):
     return self.values.get(key)
 
@@ -51,6 +55,24 @@ def test_params_compat_accepts_json_strings_for_json_keys():
   assert backend.writes == [("FavoriteDestinations", [{"name": "Home"}])]
 
 
+def test_params_compat_syncs_lead_indicator_inverse_key():
+  backend = FakeParamsBackend()
+  compat = the_galaxy.ParamsCompat(backend)
+
+  compat.put_bool("LeadIndicator", True)
+
+  assert backend.writes == [("LeadIndicator", True), ("HideLeadMarker", False)]
+
+
+def test_params_compat_syncs_hide_lead_marker_inverse_key():
+  backend = FakeParamsBackend()
+  compat = the_galaxy.ParamsCompat(backend)
+
+  compat.put_bool("HideLeadMarker", True)
+
+  assert backend.writes == [("HideLeadMarker", True), ("LeadIndicator", False)]
+
+
 def test_navigation_last_position_uses_recent_persisted_fix(monkeypatch):
   recent_payload = json.dumps({
     "latitude": 41.0,

starpilot/system/the_galaxy/the_galaxy.py

@@ -398,6 +398,18 @@ class ParamsCompat:
     self._put_single(self._key(key), value)
 
   def put_bool(self, key, value):
+    if key == "LeadIndicator":
+      enabled = bool(value)
+      self._params.put_bool("LeadIndicator", enabled)
+      self._params.put_bool("HideLeadMarker", not enabled)
+      return
+
+    if key == "HideLeadMarker":
+      hidden = bool(value)
+      self._params.put_bool("HideLeadMarker", hidden)
+      self._params.put_bool("LeadIndicator", not hidden)
+      return
+
     self._params.put_bool(self._key(key), bool(value))
 
   def remove(self, key):
@@ -2332,6 +2344,9 @@ def _get_current_param_value(key, value_type, defaults_lookup=None):
   if key == CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY:
     return _get_custom_accel_profile_initialized()
 
+  if key == "LeadIndicator":
+    return _get_lead_indicator_enabled(defaults_lookup)
+
   if key == "IsRHD" and not _safe_params_get_bool("IsRHDOverride"):
     return _safe_params_get_bool("IsRhdDetected")
 
@@ -2351,6 +2366,21 @@ def _get_current_param_value(key, value_type, defaults_lookup=None):
   return value
 
 
+def _get_lead_indicator_enabled(defaults_lookup=None):
+  if defaults_lookup is None:
+    defaults_lookup = _get_default_param_values()
+
+  lead_raw = _safe_params_get_live_raw("LeadIndicator")
+  if _is_blank_param_raw(lead_raw):
+    lead_raw = defaults_lookup.get("LeadIndicator", "0")
+
+  hide_raw = _safe_params_get_live_raw("HideLeadMarker")
+  if _is_blank_param_raw(hide_raw):
+    hide_raw = defaults_lookup.get("HideLeadMarker", "0")
+
+  return _coerce_param_value(lead_raw, bool) and not _coerce_param_value(hide_raw, bool)
+
+
 def _get_custom_accel_profile_initialized():
   raw_values = {
     key: _safe_params_get_live_raw(key)
@@ -3976,6 +4006,21 @@ def setup(app):
       if key in PANDA_FIRMWARE_TOGGLE_KEYS and data.get(PANDA_FIRMWARE_CONFIRMATION_FIELD) is not True:
         return jsonify({"error": "Panda firmware changes require confirmation before flashing."}), 409
 
+      if key in {"LeadIndicator", "HideLeadMarker"}:
+        enabled = str_val.strip() in ("1", "true", "True")
+        if key == "LeadIndicator":
+          params.put_bool("LeadIndicator", enabled)
+          updated = {"LeadIndicator": enabled, "HideLeadMarker": not enabled}
+        else:
+          params.put_bool("HideLeadMarker", enabled)
+          updated = {"HideLeadMarker": enabled, "LeadIndicator": not enabled}
+
+        update_starpilot_toggles()
+        return jsonify({
+          "message": f"Parameter '{key}' updated successfully.",
+          "updated": updated,
+        }), 200
+
       if key == "AllowImpossibleAcceleration":
         enabled = str_val.strip() in ("1", "true", "True")
         params.put_bool(key, enabled)
@@ -4251,6 +4296,8 @@ def setup(app):
       return _serialize_param_write_value(defaults_lookup.get(request_key)), 200
     if request_key == CUSTOM_ACCEL_PROFILE_INITIALIZED_KEY:
       return _serialize_param_write_value(_get_custom_accel_profile_initialized()), 200
+    if request_key == "LeadIndicator":
+      return _serialize_param_write_value(_get_lead_indicator_enabled()), 200
     if request_key == "IsRHD" and not params.get_bool("IsRHDOverride"):
       return ("1" if params.get_bool("IsRhdDetected") else "0"), 200
     value = params.get(request_key) or ""